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+# Changelog
+All notable changes to this project will be documented in this file.
+
+The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/),
+and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0.html).
+
+## [2.4.0] - 2024-05-13
+[FEATURE] Added 3CC-r Fatigue Model (#167). Thanks to @fl0fischer
+[FEATURE] Update to MuJoCo 3.1.2 and dm-control 1.0.16 (2bddf8c)
+[BUGFIX] Fixed Tutorial `2_Load_Policy.ipynb` (038457a)
+
+## [2.3.0] - 2024-05-01
+[FEATURE] Support for both Gym/Gymnasium (#142)
+[FEATURE] Add support for TorchRL by @vmoens (5efdf93)
+[FEATURE] Improve Inverse Dynamics tutorial (98daff2). Thanks to @andreh1111
+
+## [2.2.0] - 2024-01-20
+[FEATURE] Inverse dynamics tutorial. Thanks to @andreh1111 #121
+[RELEASE] MyoArm and MyoLeg models (4c01023, cd9a25e)
+[RELEASE] MyoChallenge'23 environments release (#128)
+[BUGFIX] Fixed heightfield collisions for myoleg scenes #132
+[BUGFIX] Fixed names of data keys from _int to _init in myodm by @andreh1111 in (#119)
+
+## [1.3.0] - 2023-01-11
+- Rebase and building on RoboHive v0.3
+
+## [1.2.4] - 2022-11-12
+- fix Baoding Ball environment for MyoChallenge Phase 1
+
+## [1.2.3] - 2022-10-21
+- update horizon for MyoChallenge Die Reorient task - Phase 2
+
+## [1.2.2] - 2022-10-21
+- update MyoChallenge Die Reorient task and Baoding Ball to Phase 2
+
+## [1.2.1] - 2022-10-09
+- update horizon for MyoChallenge Die Reorient task
+- update tutorials
+
+## [1.2.0] - 2022-08-13
+- Rebase and building on RoboHive v0.2
+- Adding the myochallenge envs
+- Fundamental bugfixes on the RoboHive engine
+- Bugfixes on myo environments as well
+- Closes baselines are on RoboHive-v0.2
+- Next planned baseline release will align when Robohive-v0.3dev moves to prerelease.
+- Renaming the metrics for clarity and changed sign from `act_mag` to `effort` and `solved` to `score`
+
+## [1.1.0] - 2022-08-12
+- Upgrade to mj_env v0.2 experimental
+- add Die Rotation and Baoding Ball task for MyoChallenge (https://sites.google.com/view/myochallenge)
+
+## [1.0.1] - 2022-05-23
+- First Release of MyoSuite.
+- Basic Documentation